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@@ -2436,38 +2436,44 @@ void refresh_cmd_timeout(void)
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}
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#ifdef FWRETRACT
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- void retract(bool retracting, bool swapretract = false) {
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+void retract(bool retracting, bool swapretract = false) {
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+ // Perform FW retraction, just if needed, but behave as if the move has never took place in
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+ // order to keep E/Z coordinates unchanged. This is done by manipulating the internal planner
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+ // position, which requires a sync
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if(retracting && !retracted[active_extruder]) {
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- destination[X_AXIS]=current_position[X_AXIS];
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- destination[Y_AXIS]=current_position[Y_AXIS];
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- destination[Z_AXIS]=current_position[Z_AXIS];
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- destination[E_AXIS]=current_position[E_AXIS];
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- current_position[E_AXIS]+=(swapretract?retract_length_swap:cs.retract_length)*float(extrudemultiply)*0.01f;
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- plan_set_e_position(current_position[E_AXIS]);
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- float oldFeedrate = feedrate;
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- feedrate=cs.retract_feedrate*60;
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- retracted[active_extruder]=true;
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- prepare_move();
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- current_position[Z_AXIS]-=cs.retract_zlift;
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- plan_set_position_curposXYZE();
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- prepare_move();
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- feedrate = oldFeedrate;
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+ st_synchronize();
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+ set_destination_to_current();
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+ current_position[E_AXIS]+=(swapretract?retract_length_swap:cs.retract_length)*float(extrudemultiply)*0.01f;
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+ plan_set_e_position(current_position[E_AXIS]);
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+ float oldFeedrate = feedrate;
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+ feedrate=cs.retract_feedrate*60;
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+ retracted[active_extruder]=true;
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+ prepare_move();
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+ if(cs.retract_zlift) {
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+ st_synchronize();
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+ current_position[Z_AXIS]-=cs.retract_zlift;
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+ plan_set_position_curposXYZE();
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+ prepare_move();
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+ }
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+ feedrate = oldFeedrate;
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} else if(!retracting && retracted[active_extruder]) {
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- destination[X_AXIS]=current_position[X_AXIS];
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- destination[Y_AXIS]=current_position[Y_AXIS];
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- destination[Z_AXIS]=current_position[Z_AXIS];
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- destination[E_AXIS]=current_position[E_AXIS];
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- current_position[Z_AXIS]+=cs.retract_zlift;
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- plan_set_position_curposXYZE();
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- current_position[E_AXIS]-=(swapretract?(retract_length_swap+retract_recover_length_swap):(cs.retract_length+cs.retract_recover_length))*float(extrudemultiply)*0.01f;
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- plan_set_e_position(current_position[E_AXIS]);
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- float oldFeedrate = feedrate;
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- feedrate=cs.retract_recover_feedrate*60;
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- retracted[active_extruder]=false;
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- prepare_move();
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- feedrate = oldFeedrate;
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+ st_synchronize();
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+ set_destination_to_current();
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+ float oldFeedrate = feedrate;
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+ feedrate=cs.retract_recover_feedrate*60;
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+ if(cs.retract_zlift) {
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+ current_position[Z_AXIS]+=cs.retract_zlift;
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+ plan_set_position_curposXYZE();
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+ prepare_move();
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+ st_synchronize();
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+ }
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+ current_position[E_AXIS]-=(swapretract?(retract_length_swap+retract_recover_length_swap):(cs.retract_length+cs.retract_recover_length))*float(extrudemultiply)*0.01f;
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+ plan_set_e_position(current_position[E_AXIS]);
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+ retracted[active_extruder]=false;
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+ prepare_move();
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+ feedrate = oldFeedrate;
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}
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- } //retract
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+} //retract
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#endif //FWRETRACT
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void trace() {
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@@ -4382,21 +4388,22 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
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if (total_filament_used > ((current_position[E_AXIS] - destination[E_AXIS]) * 100)) { //protection against total_filament_used overflow
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total_filament_used = total_filament_used + ((destination[E_AXIS] - current_position[E_AXIS]) * 100);
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}
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- #ifdef FWRETRACT
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- if(cs.autoretract_enabled)
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- if( !(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) {
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- float echange=destination[E_AXIS]-current_position[E_AXIS];
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-
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- if((echange<-MIN_RETRACT && !retracted[active_extruder]) || (echange>MIN_RETRACT && retracted[active_extruder])) { //move appears to be an attempt to retract or recover
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- current_position[E_AXIS] = destination[E_AXIS]; //hide the slicer-generated retract/recover from calculations
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- plan_set_e_position(current_position[E_AXIS]); //AND from the planner
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- retract(!retracted[active_extruder]);
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- return;
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- }
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-
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+#ifdef FWRETRACT
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+ if(cs.autoretract_enabled) {
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+ if( !(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) {
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+ float echange=destination[E_AXIS]-current_position[E_AXIS];
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+ if((echange<-MIN_RETRACT && !retracted[active_extruder]) || (echange>MIN_RETRACT && retracted[active_extruder])) { //move appears to be an attempt to retract or recover
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+ st_synchronize();
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+ current_position[E_AXIS] = destination[E_AXIS]; //hide the slicer-generated retract/recover from calculations
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+ plan_set_e_position(current_position[E_AXIS]); //AND from the planner
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+ retract(!retracted[active_extruder]);
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+ return;
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+ }
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}
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- #endif //FWRETRACT
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+ }
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+#endif //FWRETRACT
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+
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prepare_move();
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//ClearToSend();
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}
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@@ -4464,9 +4471,9 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
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lcd_update(0);
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}
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break;
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- #ifdef FWRETRACT
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-
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+
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+#ifdef FWRETRACT
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/*!
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### G10 - Retract <a href="https://reprap.org/wiki/G-code#G10:_Retract">G10: Retract</a>
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Retracts filament according to settings of `M207`
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@@ -4479,7 +4486,7 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
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retract(true);
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#endif
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break;
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-
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+
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/*!
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### G11 - Retract recover <a href="https://reprap.org/wiki/G-code#G11:_Unretract">G11: Unretract</a>
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@@ -4492,8 +4499,8 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
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retract(false);
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#endif
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break;
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- #endif //FWRETRACT
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-
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+#endif //FWRETRACT
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+
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/*!
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### G21 - Sets Units to Millimters <a href="https://reprap.org/wiki/G-code#G21:_Set_Units_to_Millimeters">G21: Set Units to Millimeters</a>
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@@ -7317,8 +7324,9 @@ Sigma_Exit:
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if(code_seen(axis_codes[i])) cs.add_homing[i] = code_value();
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}
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break;
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- #ifdef FWRETRACT
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+
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+#ifdef FWRETRACT
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/*!
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### M207 - Set firmware retraction <a href="https://reprap.org/wiki/G-code#M207:_Set_retract_length">M207: Set retract length</a>
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#### Usage
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@@ -7416,7 +7424,9 @@ Sigma_Exit:
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}
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}break;
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- #endif // FWRETRACT
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+#endif // FWRETRACT
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+
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+
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#if EXTRUDERS > 1
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/*!
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